#include <PIDDrone.h>

Inheritance diagram for APIDDrone:

[legend]

Collaboration diagram for APIDDrone:

[legend]

Public Member Functions
	APIDDrone ()

virtual EVehicleTypes	GetVehicleType () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

void	SetDroneAction (EDroneAction mode)
	Set drone's action (roaming, manual) More...

EDroneAction	GetDroneAction () const
	Get drone's action (roaming, manual) More...

FDroneParameters	GetDroneParameters () const

void	ResetDroneEvent ()

void	ChangeDroneParameters (const FDroneParameters &newParameters)

void	AddWayPoint (FVector Waypoint)

float	GetDroneDistanceToNextPoint ()

float	GetDroneSpeed () const

void	ClearWaypoints ()

void	SetFlightpath ()
	Called in tick function for drone roaming through points. More...

void	SetManualControl (bool value)

void	MoveDroneToPosition (const FTransform Transform)
	Override all drone roaming points and continue towards this position. More...

TArray< FTransform >	GenerateRoamingPoints (float radius, int32 roamingPoints)
	Generates a roadming points array for the drone in radius. More...

float	GetYawRotationDifference (USkeletalMeshComponent DroneSkeletalMesh, UStaticMeshComponent DesiredLocation)
	Get wanted waypoint target rotation. More...

virtual void	SetCurrentTransformToMovedFromGarageTransform () override

void	SetShowForwardArrow (bool Show)

void	SetDrawDebugPoints (bool show)

bool	GetShowForwardArrow () const

USkeletalMeshComponent *	GetDroneSkeletalMesh () const

Public Member Functions inherited from AVehicle
	AVehicle ()

virtual EVehicleTypes	GetVehicleType () const

void	TogglePhysics (bool isOn)

void	SetVehicleMeshVisibility (bool Visible)

void	TeleportVehicleTo (FVector NewLocation, FRotator NewRotation)

virtual void	TeleportVehicleTo_Implementation (FVector NewLocation, FRotator NewRotation)

void	ResetCamera ()

void	ToggleLights (bool isOn)

void	SetVisualizeVehicleOverlapArea (bool Visible)

FString	ExportToJsonFile (const FString &FileName)

void	SetVehicleIsInGarage (bool VehicleIsInGarage)

bool	IsVehicleInGarage () const

USensorsManagerComponent *	GetSensorsManager () const

ACollisionSensor *	GetCollisionSensor () const

ATransformSensor *	GetTransformSensor () const

AOverlapSensor *	GetOverlapSensor () const

FTransform	GetMovedFromGarageTransform () const

virtual void	SetCurrentTransformToMovedFromGarageTransform ()

virtual FText	GetInteractableName_Implementation () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

virtual FString	GetActorID_Implementation () const override

virtual FString	GetActorName_Implementation () const override

virtual FString	GetActorInformation_Implementation () const override

virtual void	SetActorName_Implementation (const FString &NewActorName) override

virtual void	SetActorIDAndName_Implementation (const FString &NewActorName, const FString &NewID) override

void	SetVehicleParameters (FWheeledVehicleParameters NewParameters)

FWheeledVehicleParameters	GetVehicleParameters () const

void	ApplyVehicleParameters (FWheeledVehicleParameters CurrentParameters)

virtual void	PossessedBy (AController *NewController) override

Public Member Functions inherited from IInteractable
FText	GetInteractableName () const

FTransform	GetInteractableWorldTransform () const

Public Member Functions inherited from IActorInformation
FString	GetActorID () const

FString	GetActorName () const

FString	GetActorInformation () const

void	SetActorName (const FString &NewActorName)

void	SetActorIDAndName (const FString &NewActorName, const FString &NewID)

Public Attributes
FDroneFinished	OnDroneFinished

Public Attributes inherited from AVehicle
FText	InteractableName

FVehicleGarageChangedDelegate	OnVehicleGarageChanged

Protected Member Functions
void	ROSBridgeStateChanged (EROSState ROSState) override

virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

virtual void	ROSBridgeStateChanged (EROSState ROSState)

Protected Attributes
UTopic *	ROSTopic = nullptr

TSharedPtr< ROSMessages::std_msgs::Float32 >	ROSMessage

Protected Attributes inherited from AVehicle
FWheeledVehicleParameters	VehicleParameters

TObjectPtr< USensorsManagerComponent >	SensorsManager

ACollisionSensor *	CollisionSensor = nullptr

ATransformSensor *	TransformSensor = nullptr

AOverlapSensor *	OverlapSensor = nullptr

UNiagaraComponent *	NiagaraComponent = nullptr

TArray< UStaticMeshComponent * >	ExtraTransformSensorPositions

FString	ActorName

FString	ActorID

FTransform	OriginalCameraTransform

FTransform	MovedFromGarageTransform

bool	VehicleInGarage = false

TArray< ATransformSensor * >	ExtraTransformSensors

Private Member Functions
virtual void	BeginPlay () override

virtual void	Tick (float DeltaTime) override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

void	CreateTopic ()

void	DestroyTopic ()

void	HandleDestroy ()

void	AutoPilot (const float DeltaTime)

void	DrawDebugPoints ()

void	AssignRoamingPoints (const TArray< FTransform > Points)

void	SetDroneRotation (USkeletalMeshComponent *target, FRotator rotator)

void	UpdateGroundHeight ()

bool	IsRoaming () const

void	SetDesiredLocationMesh (UStaticMeshComponent *meshcomponent)

FVector	GetCurrentWaypointTarget ()

FTransform	GetCurrentWaypointTarget_Transform ()

Private Attributes
FDroneParameters	DroneParameters

EFlightMode	flightmode = EFlightMode::Roaming

UWorld *	World = nullptr

FVector	StartingPosition

USkeletalMeshComponent *	DroneSkeletalMesh = nullptr

UStaticMeshComponent *	PositionMesh = nullptr

AOverlapSensor *	InnerOverlapSensor = nullptr

TArray< FVector >	WayPoints

bool	waypointReached = false

bool	manualControl = false

bool	ShowForwardArrow = false

bool	drawDebugPoints = false

int32	passedWaypoints = 0

float	DroneHeightFromGround = 0.0f

float	distanceToNextPoint = 0.0f

TArray< FTransform >	dronePath

FTimerHandle	DestroyHandle

Additional Inherited Members
Static Public Member Functions inherited from IActorInformation
static void	SetAndValidateActorIDAndName (FString &ActorName, FString &ActorID, TWeakObjectPtr< AActor > Actor)

static bool	DestroyActorByID (const FString &ID)

static AActor *	GetActorByID (const FString &ID)

template<typename T >
static TArray< T * >	GetActorsWithInterface ()

static void	PrintAllIds ()

Detailed Description

Definition at line 25 of file PIDDrone.h.

Constructor & Destructor Documentation

◆ APIDDrone()

APIDDrone::APIDDrone ( )

Definition at line 30 of file PIDDrone.cpp.

                     : Super()
{
    PrimaryActorTick.bCanEverTick = true;
    InteractableName = NSLOCTEXT("Agrarsense", "DroneInteractableName", "Drone");
}

References AVehicle::InteractableName.

Member Function Documentation

◆ AddWayPoint()

void APIDDrone::AddWayPoint ( FVector Waypoint )

inline

Definition at line 86 of file PIDDrone.h.

    {
        FTransform transform;
        transform.SetLocation(Waypoint);
 
        DroneParameters.Points.Add(transform);
    }

References FDroneParameters::Points.

◆ AssignRoamingPoints()

void APIDDrone::AssignRoamingPoints ( const TArray< FTransform > Points )

private

Definition at line 397 of file PIDDrone.cpp.

{
    ClearWaypoints();
 
    for (const FTransform& point : Points)
    {
        WayPoints.Add(point.GetLocation());
    }
}

References ClearWaypoints(), and WayPoints.

◆ AutoPilot()

void APIDDrone::AutoPilot ( const float DeltaTime )

private

Definition at line 228 of file PIDDrone.cpp.

{
    if (DroneParameters.DroneAction == EDroneAction::Stationary)
    {
        return;
    }
 
    SetFlightpath();
}

References FDroneParameters::DroneAction, DroneParameters, SetFlightpath(), and Stationary.

Referenced by Tick().

◆ BeginPlay()

void APIDDrone::BeginPlay ( )

overrideprivatevirtual

Reimplemented from AVehicle.

Definition at line 112 of file PIDDrone.cpp.

{
    Super::BeginPlay();
 
    World = GetWorld();
 
    ROSMessage.Reset();
    ROSMessage = MakeShared<ROSMessages::std_msgs::Float32>();
 
    CreateTopic();
 
    // These should be setup in BP_Drone_PID blueprint.
    DroneSkeletalMesh = Cast<USkeletalMeshComponent>(GetComponentByClass(USkeletalMeshComponent::StaticClass()));
    PositionMesh = Cast<UStaticMeshComponent>(GetComponentByClass(UStaticMeshComponent::StaticClass()));
 
    StartingPosition = GetActorLocation();
    FTransform ActorTransform = GetActorTransform();
 
    if (DroneSkeletalMesh && !TransformSensor)
    {
        // Create Transform sensor for forwarder and harvester
 
        FString VehicleTransformSensorID = ActorID + "/transform";
 
        FSensorSpawnParameters TransformSensorSpawnParams;
        TransformSensorSpawnParams.Transform = GetActorTransform();
        TransformSensorSpawnParams.SensorIdentifier = VehicleTransformSensorID;
        TransformSensorSpawnParams.SensorName = "transform";
        TransformSensorSpawnParams.SimulateSensor = true;
        TransformSensorSpawnParams.Parent = this;
 
        FTransformSensorParameters TransformSensorParams;
        TransformSensorParams.SaveTransformDataToDisk = true;
        TransformSensorParams.OwningActor = this;
        TransformSensorParams.UseOwningActorTransform = false;
        TransformSensorParams.PrimitiveComponent = Cast<UPrimitiveComponent>(DroneSkeletalMesh);
 
        TransformSensor = USensorFactory::SpawnTransformSensor(TransformSensorSpawnParams, TransformSensorParams);
    }
 
    if (!OverlapSensor)
    {
        // Create OverlapSensor
 
        FString OverlapSensorID = ActorID + "/overlap";
 
        FSensorSpawnParameters OverlapSensorSpawnParams;
        OverlapSensorSpawnParams.Transform = GetActorTransform();
        OverlapSensorSpawnParams.SensorIdentifier = OverlapSensorID;
        OverlapSensorSpawnParams.SensorName = "overlap";
        OverlapSensorSpawnParams.SimulateSensor = true;
        OverlapSensorSpawnParams.Parent = this;
 
        FOverlapSensorParameters OverlapSensorParams;
        OverlapSensorParams.OwningActor = this;
        OverlapSensorParams.AllChannels = true;
        OverlapSensorParams.Size = FVector(25.0f, 25.0f, 25.0f);
        OverlapSensorParams.RelativePosition = FVector(0.0f, 0.0f, 0.0f);
        
        OverlapSensor = USensorFactory::SpawnOverlapSensor(OverlapSensorSpawnParams, OverlapSensorParams);
 
        if (OverlapSensor) 
        {
            OverlapSensor->AttachToComponent(DroneSkeletalMesh, FAttachmentTransformRules::KeepRelativeTransform);
        }
    }
 
    if (NiagaraComponent)
    {
        // Attach rain/snowfall niagara component to drone skeletal mesh.
        NiagaraComponent->AttachToComponent(DroneSkeletalMesh, FAttachmentTransformRules::KeepRelativeTransform);
    }
 
    // Apply default parameters
    ChangeDroneParameters(DroneParameters);
}

References AVehicle::ActorID, FOverlapSensorParameters::AllChannels, ChangeDroneParameters(), CreateTopic(), DroneParameters, DroneSkeletalMesh, AVehicle::NiagaraComponent, AVehicle::OverlapSensor, FOverlapSensorParameters::OwningActor, FTransformSensorParameters::OwningActor, FSensorSpawnParameters::Parent, PositionMesh, FTransformSensorParameters::PrimitiveComponent, FOverlapSensorParameters::RelativePosition, ROSMessage, FTransformSensorParameters::SaveTransformDataToDisk, FSensorSpawnParameters::SensorIdentifier, FSensorSpawnParameters::SensorName, FSensorSpawnParameters::SimulateSensor, FOverlapSensorParameters::Size, USensorFactory::SpawnOverlapSensor(), USensorFactory::SpawnTransformSensor(), StartingPosition, FSensorSpawnParameters::Transform, AVehicle::TransformSensor, FTransformSensorParameters::UseOwningActorTransform, and World.

◆ ChangeDroneParameters()

void APIDDrone::ChangeDroneParameters ( const FDroneParameters & newParameters )

Definition at line 36 of file PIDDrone.cpp.

{
    DroneParameters = newParameters;
 
    if (DroneParameters.CreateInnerOverlapSensor && !InnerOverlapSensor)
    {
        FString OverlapSensorID = ActorID + "/inner_overlap";
 
        FSensorSpawnParameters SpawnParams;
        SpawnParams.Transform = GetActorTransform();
        SpawnParams.SensorIdentifier = OverlapSensorID;
        SpawnParams.SensorName = "overlap";
        SpawnParams.SimulateSensor = true;
        SpawnParams.Parent = this;
 
        FOverlapSensorParameters SensorParams;
        SensorParams.OwningActor = this;
        SensorParams.AllChannels = true;
        SensorParams.Size = FVector(DroneParameters.InnerOverlapRadiusMeters, DroneParameters.InnerOverlapRadiusMeters, DroneParameters.InnerOverlapRadiusMeters);
        SensorParams.RelativePosition = FVector(0.0f, 0.0f, 0.0f);
 
        InnerOverlapSensor = USensorFactory::SpawnOverlapSensor(SpawnParams, SensorParams);
 
        if (InnerOverlapSensor)
        {
            InnerOverlapSensor->AttachToComponent(DroneSkeletalMesh, FAttachmentTransformRules::KeepRelativeTransform);
        }
    }
    else if (InnerOverlapSensor && !DroneParameters.CreateInnerOverlapSensor)
    {
        InnerOverlapSensor->Destroy();
        InnerOverlapSensor = nullptr;
    }
 
    if (!DroneParameters.CollisionsEnabled && DroneSkeletalMesh)
    {
        DroneSkeletalMesh->SetCollisionProfileName(TEXT("DroneNoCollision"));
    }
 
    if (OverlapSensor)
    {
        OverlapSensor->SetVisualizeOverlapArea(DroneParameters.VisualizeOverlap);
 
        const float BoundsSizeMeters = DroneParameters.OverlapRadiusMeters;
        OverlapSensor->SetOverlapBounds(FVector(BoundsSizeMeters, BoundsSizeMeters, BoundsSizeMeters));
 
    }
 
    if (InnerOverlapSensor)
    {
        InnerOverlapSensor->SetVisualizeOverlapArea(DroneParameters.VisualizeOverlap);
 
        const float BoundsSizeMeters = DroneParameters.InnerOverlapRadiusMeters;
        InnerOverlapSensor->SetOverlapBounds(FVector(BoundsSizeMeters, BoundsSizeMeters, BoundsSizeMeters));
    }
 
    if (!CollisionSensor) 
    {
        // Create Collision sensor
        FString VehicleCollisionSensorID = ActorID + "/collision";
        FSensorSpawnParameters CollisionSensorSpawnParams;
        CollisionSensorSpawnParams.Transform = GetActorTransform();
        CollisionSensorSpawnParams.SensorIdentifier = VehicleCollisionSensorID;
        CollisionSensorSpawnParams.SensorName = "collision";
        CollisionSensorSpawnParams.SimulateSensor = true;
        CollisionSensorSpawnParams.Parent = this;
 
        FCollisionSensorParameters FCollisionSensorSpawnParams;
        FCollisionSensorSpawnParams.OwningActor = this;
        FCollisionSensorSpawnParams.UseActorCollision = false;
        FCollisionSensorSpawnParams.PrimitiveComponent = DroneSkeletalMesh;
 
        CollisionSensor = USensorFactory::SpawnCollisionSensor(CollisionSensorSpawnParams, FCollisionSensorSpawnParams);
    }
}

References AVehicle::ActorID, FOverlapSensorParameters::AllChannels, FDroneParameters::CollisionsEnabled, AVehicle::CollisionSensor, FDroneParameters::CreateInnerOverlapSensor, DroneParameters, DroneSkeletalMesh, FDroneParameters::InnerOverlapRadiusMeters, InnerOverlapSensor, FDroneParameters::OverlapRadiusMeters, AVehicle::OverlapSensor, FCollisionSensorParameters::OwningActor, FOverlapSensorParameters::OwningActor, FSensorSpawnParameters::Parent, FCollisionSensorParameters::PrimitiveComponent, FOverlapSensorParameters::RelativePosition, FSensorSpawnParameters::SensorIdentifier, FSensorSpawnParameters::SensorName, AOverlapSensor::SetOverlapBounds(), AOverlapSensor::SetVisualizeOverlapArea(), FSensorSpawnParameters::SimulateSensor, FOverlapSensorParameters::Size, USensorFactory::SpawnCollisionSensor(), USensorFactory::SpawnOverlapSensor(), FSensorSpawnParameters::Transform, FCollisionSensorParameters::UseActorCollision, and FDroneParameters::VisualizeOverlap.

Referenced by BeginPlay(), and USimulatorJsonParser::ParseAndSetDroneParameters().

◆ ClearWaypoints()

void APIDDrone::ClearWaypoints ( )

inline

Definition at line 118 of file PIDDrone.h.

    {
        DroneParameters.Points.Empty();
    }

Referenced by AssignRoamingPoints().

◆ CreateTopic()

void APIDDrone::CreateTopic ( )

private

Definition at line 545 of file PIDDrone.cpp.

{
    if (ROSTopic)
    {
        return;
    }
 
    UROSIntegrationGameInstance* ROSInstance = UAgrarsenseStatics::GetROSGameInstance(GetWorld());
    if (ROSInstance && ROSInstance->IsROSConnected())
    {
        ROSTopic = NewObject<UTopic>(UTopic::StaticClass());
        if (ROSTopic)
        {
 
            FString TopicName = FString::Printf(TEXT("/agrarsense/out/vehicles/%s/height"), *GetActorID_Implementation());
            //UE_LOG(LogTemp, Warning, TEXT("TopicName is %s"), *TopicName);
 
            ROSTopic->Init(ROSInstance->ROSIntegrationCore, TopicName, "std_msgs/Float32");
            ROSTopic->Advertise();
        }
    }
}

References AVehicle::GetActorID_Implementation(), UAgrarsenseStatics::GetROSGameInstance(), and ROSTopic.

Referenced by BeginPlay(), and ROSBridgeStateChanged().

◆ DestroyTopic()

void APIDDrone::DestroyTopic ( )

private

Definition at line 585 of file PIDDrone.cpp.

{
    if (ROSTopic)
    {
        ROSTopic->Unadvertise();
        ROSTopic->Unsubscribe();
        ROSTopic->MarkAsDisconnected();
        ROSTopic->ConditionalBeginDestroy();
        ROSTopic = nullptr;
    }
}

References ROSTopic.

Referenced by EndPlay(), and ROSBridgeStateChanged().

◆ DrawDebugPoints()

void APIDDrone::DrawDebugPoints ( )

private

Definition at line 238 of file PIDDrone.cpp.

{
    TArray<FTransform> dronePoints = DroneParameters.Points;
 
    dronePath.Add(DroneSkeletalMesh->GetComponentTransform());
 
    for (int32 i = 0; i < dronePoints.Num(); i++)
    {
        if (World)
        {
            //UE_LOG(LogTemp, Warning, TEXT("Drone point %d: %s"), i, *dronePoints[i].GetLocation().ToString());
            DrawDebugSphere(World, dronePoints[i].GetLocation(), 5.0f, 25, FColor::Red, false);
            if (i < dronePoints.Num() - 1)
            {
                FVector nextPointLocation = dronePoints[i + 1].GetLocation();
                DrawDebugLine(World, dronePoints[i].GetLocation(), nextPointLocation, FColor::Blue, false, 0.0f, 0, 5.0f);
            }
        }
    }
 
    for (int32 i = 0; i < dronePath.Num(); i++)
    {
        if (i < dronePath.Num() - 1)
        {
            FVector nextPointLocation = dronePath[i + 1].GetLocation();
            DrawDebugLine(World, dronePath[i].GetLocation(), nextPointLocation, FColor::Green, false, 0.0f, 0, 5.0f);
        }
    }
}

References DroneParameters, dronePath, DroneSkeletalMesh, FDroneParameters::Points, and World.

Referenced by Tick().

◆ EndPlay()

void APIDDrone::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprivatevirtual

Reimplemented from AVehicle.

Definition at line 189 of file PIDDrone.cpp.

{
    Super::EndPlay(EndPlayReason);
 
    if (TransformSensor)
    {
        TransformSensor->Destroy();
        TransformSensor = nullptr;
    }
 
    if (InnerOverlapSensor) 
    {
        InnerOverlapSensor->Destroy();
        InnerOverlapSensor = nullptr;
    }
 
    ROSMessage.Reset();
    DestroyTopic();
}

References DestroyTopic(), InnerOverlapSensor, ROSMessage, and AVehicle::TransformSensor.

◆ GenerateRoamingPoints()

TArray< FTransform > APIDDrone::GenerateRoamingPoints	(	float	radius,
		int32	roamingPoints
	)

Generates a roadming points array for the drone in radius.

Parameters

radius radius of the roaming area

Returns: TArray<FVector>

Definition at line 507 of file PIDDrone.cpp.

{
    TArray<FTransform> generatedRoamingPoints;
    generatedRoamingPoints.Reserve(roamingPoints);
 
    FVector currentPosition = GetTransform().GetLocation();
 
    FVector min = currentPosition - FVector(radius / 2, radius / 2, 0);
    FVector max = currentPosition + FVector(radius / 2, radius / 2, 0);
 
    for (int32 i = 0; i < roamingPoints; i++)
    {
        FTransform randomPoint;
        randomPoint.SetLocation(FVector(FMath::RandRange(min.X, max.X), FMath::RandRange(min.Y, max.Y), 5000));
 
        generatedRoamingPoints.Add(randomPoint);
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("Waypoint %i: (%s)"), i, *randomPoint.GetLocation().ToString());
#endif
    }
 
    return generatedRoamingPoints;
}

Referenced by SetFlightpath().

◆ GetCurrentWaypointTarget()

FVector APIDDrone::GetCurrentWaypointTarget ( )

private

Definition at line 382 of file PIDDrone.cpp.

{
    return GetCurrentWaypointTarget_Transform().GetLocation();
}

References GetCurrentWaypointTarget_Transform().

Referenced by SetFlightpath().

◆ GetCurrentWaypointTarget_Transform()

FTransform APIDDrone::GetCurrentWaypointTarget_Transform ( )

private

Definition at line 387 of file PIDDrone.cpp.

{
    if (DroneParameters.Points.Num() <= passedWaypoints)
    {
        return DroneSkeletalMesh->GetRelativeTransform();
    }
 
    return DroneParameters.Points[passedWaypoints];
}

References DroneParameters, DroneSkeletalMesh, passedWaypoints, and FDroneParameters::Points.

Referenced by GetCurrentWaypointTarget().

◆ GetDroneAction()

EDroneAction APIDDrone::GetDroneAction ( ) const

inline

Get drone's action (roaming, manual)

Returns: Drone's action

Definition at line 68 of file PIDDrone.h.

    {
        return DroneParameters.DroneAction;
    }

◆ GetDroneDistanceToNextPoint()

float APIDDrone::GetDroneDistanceToNextPoint ( )

inline

Definition at line 95 of file PIDDrone.h.

    {
        // On manual flight, return a fixed distance to not affect autofly max speed
        if (DroneParameters.DroneAction == EDroneAction::Manual)
        {
            return 5000;
        }
 
        return distanceToNextPoint;
    }

References Manual.

◆ GetDroneParameters()

FDroneParameters APIDDrone::GetDroneParameters ( ) const

inline

Definition at line 74 of file PIDDrone.h.

    {
        return DroneParameters;
    }

Referenced by USimulatorJsonExporter::SetDroneParameters().

◆ GetDroneSkeletalMesh()

USkeletalMeshComponent * APIDDrone::GetDroneSkeletalMesh ( ) const

inline

Definition at line 189 of file PIDDrone.h.

    {
        return DroneSkeletalMesh;
    }

◆ GetDroneSpeed()

float APIDDrone::GetDroneSpeed ( ) const

inline

Definition at line 107 of file PIDDrone.h.

    {
        if (!DroneSkeletalMesh)
        {
            return 0;
        }
 
        return FMath::Max(FMath::Abs(DroneSkeletalMesh->GetComponentVelocity().X), FMath::Abs(DroneSkeletalMesh->GetComponentVelocity().Y));
    }

◆ GetInteractableWorldTransform_Implementation()

virtual FTransform APIDDrone::GetInteractableWorldTransform_Implementation ( ) const

inlineoverridevirtual

Reimplemented from AVehicle.

Definition at line 39 of file PIDDrone.h.

    {
        if (DroneSkeletalMesh)
        {
            return DroneSkeletalMesh->GetComponentTransform();
        }
        else
        {
            return GetActorTransform();
        }
    }

◆ GetShowForwardArrow()

bool APIDDrone::GetShowForwardArrow ( ) const

inline

Definition at line 183 of file PIDDrone.h.

    {
        return ShowForwardArrow;
    }

◆ GetVehicleType()

virtual EVehicleTypes APIDDrone::GetVehicleType ( ) const

inlineoverridevirtual

Get type of the Vehicle

Returns: Vehicle's type

Reimplemented from AVehicle.

Definition at line 37 of file PIDDrone.h.

37{ return EVehicleTypes::Drone; }

EVehicleTypes::Drone

@ Drone

References Drone.

◆ GetYawRotationDifference()

float APIDDrone::GetYawRotationDifference	(	USkeletalMeshComponent *	DroneSkeletalMesh,
		UStaticMeshComponent *	DesiredLocation
	)

Get wanted waypoint target rotation.

Returns: float

Definition at line 568 of file PIDDrone.cpp.

{
    if (!DroneMesh || !DesiredLocation)
    {
        return 0.0f;
    }
 
    FVector ToTarget = DesiredLocation->GetComponentLocation() - DroneMesh->GetComponentLocation();
    FRotator LookRotation = ToTarget.Rotation();
 
    float CurrentYaw = DroneMesh->GetComponentRotation().Yaw;
    float DesiredYaw = LookRotation.Yaw;
 
    float DeltaYaw = FRotator::NormalizeAxis(DesiredYaw - CurrentYaw);
    return DeltaYaw;
}

◆ HandleDestroy()

void APIDDrone::HandleDestroy ( )

private

Definition at line 268 of file PIDDrone.cpp.

{
    // Should trigger EndPlay?
 
    ASimulationLevelManager* SimulationLevelManager = UAgrarsenseStatics::GetSimulationLevelManager(World);
    if (SimulationLevelManager)
    {
        AVehicle* controlledVehicle = SimulationLevelManager->GetManuallyControlledVehicle();
 
        if (controlledVehicle == this) 
        {
            SimulationLevelManager->CeaseManualControlOfVehicle();
        }   
    }
 
    passedWaypoints = 0;
    Destroy();
}

References ASimulationLevelManager::CeaseManualControlOfVehicle(), Destroy, ASimulationLevelManager::GetManuallyControlledVehicle(), UAgrarsenseStatics::GetSimulationLevelManager(), passedWaypoints, and World.

Referenced by SetFlightpath().

◆ IsRoaming()

bool APIDDrone::IsRoaming ( ) const

inlineprivate

Definition at line 230 of file PIDDrone.h.

    {
        return DroneParameters.DroneAction == EDroneAction::Roaming;
    }

References Roaming.

Referenced by SetFlightpath().

◆ MoveDroneToPosition()

void APIDDrone::MoveDroneToPosition ( const FTransform Transform )

Override all drone roaming points and continue towards this position.

Parameters

Transform drone move position

Definition at line 369 of file PIDDrone.cpp.

{
    if (DroneParameters.Points.Num() > 0)
    {
        DroneParameters.Points.Empty();
        DroneParameters.Points.Add(Transform);
    }
    else
    {
        DroneParameters.Points.Add(Transform);
    }
}

References DroneParameters, FDroneParameters::Points, and Transform.

◆ ResetDroneEvent()

void APIDDrone::ResetDroneEvent ( )

◆ ROSBridgeStateChanged()

void APIDDrone::ROSBridgeStateChanged ( EROSState ROSState )

overrideprotectedvirtual

Reimplemented from AVehicle.

Definition at line 531 of file PIDDrone.cpp.

{
    switch (ROSState)
    {
    case EROSState::Connected:
        CreateTopic();
        break;
 
    case EROSState::Disconnected:
        DestroyTopic();
        break;
    }
}

References Connected, CreateTopic(), DestroyTopic(), and Disconnected.

◆ SetCurrentTransformToMovedFromGarageTransform()

virtual void APIDDrone::SetCurrentTransformToMovedFromGarageTransform ( )

inlineoverridevirtual

Reimplemented from AVehicle.

Definition at line 156 of file PIDDrone.h.

    {
        if (DroneSkeletalMesh)
        {
            MovedFromGarageTransform = DroneSkeletalMesh->GetComponentTransform();
            UE_LOG(LogTemp, Warning, TEXT("Moved from garage transform %s"), *MovedFromGarageTransform.ToString());
 
        }
        else
        {
            MovedFromGarageTransform = GetActorTransform();
            UE_LOG(LogTemp, Warning, TEXT("ACTOR Moved from garage transform WHAT IS THIS: %s"), *MovedFromGarageTransform.ToString());
 
        }
    }

◆ SetDesiredLocationMesh()

void APIDDrone::SetDesiredLocationMesh ( UStaticMeshComponent * meshcomponent )

inlineprivate

Definition at line 236 of file PIDDrone.h.

    {
        PositionMesh = meshcomponent;
    }

◆ SetDrawDebugPoints()

void APIDDrone::SetDrawDebugPoints ( bool show )

inline

Definition at line 177 of file PIDDrone.h.

    {
        drawDebugPoints = show;
    }

Referenced by USimulatorJsonParser::ParseAndSetDroneParameters().

◆ SetDroneAction()

void APIDDrone::SetDroneAction ( EDroneAction mode )

inline

Set drone's action (roaming, manual)

Definition at line 55 of file PIDDrone.h.

    {
        DroneParameters.DroneAction = mode;
    }

◆ SetDroneRotation()

void APIDDrone::SetDroneRotation	(	USkeletalMeshComponent *	target,
		FRotator	rotator
	)

private

Definition at line 407 of file PIDDrone.cpp.

{
    if (!target)
    {
        return;
    }
 
    FRotator currentRotation = target->GetRelativeRotation();
    FRotator rotationDifference = rotator - currentRotation;
 
    target->AddRelativeRotation(rotationDifference, false, nullptr, ETeleportType::TeleportPhysics);
 
    // Prevent locking up when using interp
    if (FMath::Abs(rotator.Pitch) < 0.001f)
    {
        rotator.Pitch = 0.0f;
    }
    if (FMath::Abs(rotator.Yaw) < 0.001f)
    {
        rotator.Yaw = 0.0f;
    }
    if (FMath::Abs(rotator.Roll) < 0.001f)
    {
        rotator.Roll = 0.0f;
    }
 
    // Corrected rotation
    target->SetRelativeRotation(rotator, false, nullptr, ETeleportType::TeleportPhysics);
}

◆ SetFlightpath()

void APIDDrone::SetFlightpath ( )

Called in tick function for drone roaming through points.

Definition at line 288 of file PIDDrone.cpp.

{
    // Check if drone is in garage
    if(IsVehicleInGarage())
        return;
 
    // Don't try to fly if no waypoints
    if (DroneParameters.Points.Num() == 0 && IsRoaming())
    {
        DroneParameters.Points = GenerateRoamingPoints(50000, 10);
    }
 
    FVector waypoint = GetCurrentWaypointTarget();
    FVector currentlocation = DroneSkeletalMesh->GetRelativeTransform().GetLocation();
 
    if (PositionMesh)
    {
        // Doesn't work
        PositionMesh->SetWorldLocation(waypoint);
    }
#if WITH_EDITOR
    else
    {
        UE_LOG(LogTemp, Warning, TEXT("Desired location mesh not found"));
        //DrawDebugLine(World, currentlocation, waypoint, FColor::Red, false, 0.0f, 0.0f, 5.0f);
    }
#endif
    distanceToNextPoint = FVector2f::Distance(FVector2f(waypoint.X, waypoint.Y), FVector2f(currentlocation.X, currentlocation.Y));
    if (distanceToNextPoint < 100)
    {
        waypointReached = true;
        if (passedWaypoints != DroneParameters.Points.Num() - 1)
        {
#if WITH_EDITOR
            UE_LOG(LogTemp, Warning, TEXT("Changing waypoint from %i to %i"), passedWaypoints, passedWaypoints + 1);
#endif
 
            passedWaypoints++;
        }
        else
        {
            if (DroneParameters.DroneAction == EDroneAction::Roaming)
            {
                DroneParameters.Points = GenerateRoamingPoints(50000, 10);
                passedWaypoints = 0;
            }
            else
            {
                switch (DroneParameters.DroneEndAction)
                {
                case EDroneEndAction::Stop:
                    DroneParameters.DroneAction = EDroneAction::Stationary;
                    OnDroneFinished.Broadcast(DroneParameters.Points.Last());
                    break;
                case EDroneEndAction::GenerateRandomNew:
                    DroneParameters.Points = GenerateRoamingPoints(50000, 10);
                    passedWaypoints = 0;
                    break;
                case EDroneEndAction::RepeatFromBeginning:
                    passedWaypoints = 0;
                    break;
                case EDroneEndAction::GoBackwards:
                    Algo::Reverse(DroneParameters.Points);
                    passedWaypoints = 0;
                    break;
                case EDroneEndAction::Destroy:
                    OnDroneFinished.Broadcast(DroneParameters.Points.Last());
                    if (!GetWorld()->GetTimerManager().IsTimerActive(DestroyHandle))
                    {
                        DroneParameters.DroneAction = EDroneAction::Stationary;
                        GetWorld()->GetTimerManager().SetTimer(DestroyHandle, this, &APIDDrone::HandleDestroy, 5.0f, false);
                    }
                    break;
                default:
                    break;
                }
            }
        }
    }
}

References Destroy, DestroyHandle, distanceToNextPoint, FDroneParameters::DroneAction, FDroneParameters::DroneEndAction, DroneParameters, DroneSkeletalMesh, GenerateRandomNew, GenerateRoamingPoints(), GetCurrentWaypointTarget(), GoBackwards, HandleDestroy(), IsRoaming(), AVehicle::IsVehicleInGarage(), OnDroneFinished, passedWaypoints, FDroneParameters::Points, PositionMesh, RepeatFromBeginning, Roaming, Stationary, Stop, and waypointReached.

Referenced by AutoPilot().

◆ SetManualControl()

void APIDDrone::SetManualControl ( bool value )

inline

Definition at line 130 of file PIDDrone.h.

    {
        manualControl = value;
    }

◆ SetShowForwardArrow()

void APIDDrone::SetShowForwardArrow ( bool Show )

inline

Definition at line 172 of file PIDDrone.h.

    {
        ShowForwardArrow = Show;
    }

Referenced by USimulatorJsonParser::ParseAndSetDroneParameters().

◆ Tick()

void APIDDrone::Tick ( float DeltaTime )

overrideprivatevirtual

Definition at line 209 of file PIDDrone.cpp.

{
    Super::Tick(DeltaTime);
 
    if (!IsVehicleInGarage())
    {
        AutoPilot(DeltaTime);
        UpdateGroundHeight();
 
#if WITH_EDITOR
        if (drawDebugPoints)
        {
            DrawDebugPoints();
        }
#endif
 
    }
}

References AutoPilot(), DrawDebugPoints(), drawDebugPoints, AVehicle::IsVehicleInGarage(), and UpdateGroundHeight().

◆ UpdateGroundHeight()

void APIDDrone::UpdateGroundHeight ( )

private

Definition at line 437 of file PIDDrone.cpp.

{
    if (!DroneSkeletalMesh || !ROSTopic || !ROSMessage.IsValid())
    {
        return;
    }
 
    FVector Start = DroneSkeletalMesh->GetComponentLocation();
    FVector End = Start - FVector(0, 0, 10000.0f);
 
    FCollisionQueryParams TraceParams = FCollisionQueryParams(FName(TEXT("UpdateGroundHeight")), true, this);
    TraceParams.bReturnPhysicalMaterial = false;
    TraceParams.bTraceComplex = false;
 
    // Get all child actors and add them to ignored actors list.
    TArray<AActor*> AttachedActors;
    GetAttachedActors(AttachedActors);
    for (AActor* AttachedActor : AttachedActors)
    {
        // If the attached actor is a sensor, also ignore its children (e.g., sensor model mesh).
        if (AttachedActor && Cast<ASensor>(AttachedActor))
        {
            TArray<AActor*> ChildActors;
            AttachedActor->GetAttachedActors(ChildActors);
            AttachedActors.Append(ChildActors);
        }
    }
    TraceParams.AddIgnoredActors(AttachedActors);
 
    FHitResult HitResult;
 
#ifdef ParallelLineTraceSingleByChannel_EXISTS
    // Defined and implemented in our AGRARSENSE Unreal Engine fork
    // This LineTrace method doesn't block the physics scene which improves linetrace performance.
    World->ParallelLineTraceSingleByChannel(
        HitResult,
        Start,
        End,
        ECC_Visibility,
        TraceParams,
        FCollisionResponseParams::DefaultResponseParam);
#else
    // If not using our fork of the engine, use default LineTrace method.
    World->LineTraceSingleByChannel(
        HitResult,
        Start,
        End,
        ECC_Visibility,
        TraceParams,
        FCollisionResponseParams::DefaultResponseParam);
#endif
 
    if (HitResult.IsValidBlockingHit())
    {
        float Height = (Start.Z - HitResult.ImpactPoint.Z) / 100.0f;
        float HeightRounded = FMath::RoundToFloat(Height * 1000.0f) / 1000.0f;
 
        if (!FMath::IsNearlyEqual(DroneHeightFromGround, HeightRounded, 0.005f))
        {
            DroneHeightFromGround = HeightRounded;
 
            ROSMessage->_Data = DroneHeightFromGround;
            ROSTopic->Publish(ROSMessage);
 
            //FString HitActorName = HitResult.GetActor() ? HitResult.GetActor()->GetName() : TEXT("None");
            //UE_LOG(LogTemp, Log, TEXT("Drone is %f meters above ground. Hit object: %s"), DroneHeightFromGround, *HitActorName);
        }
    }
}

References DroneHeightFromGround, DroneSkeletalMesh, ROSMessage, ROSTopic, and World.

Referenced by Tick().

Member Data Documentation

◆ DestroyHandle

FTimerHandle APIDDrone::DestroyHandle

private

Definition at line 288 of file PIDDrone.h.

Referenced by SetFlightpath().

◆ distanceToNextPoint

float APIDDrone::distanceToNextPoint = 0.0f

private

Definition at line 284 of file PIDDrone.h.

Referenced by SetFlightpath().

◆ drawDebugPoints

bool APIDDrone::drawDebugPoints = false

private

Definition at line 278 of file PIDDrone.h.

Referenced by Tick().

◆ DroneHeightFromGround

float APIDDrone::DroneHeightFromGround = 0.0f

private

Definition at line 282 of file PIDDrone.h.

Referenced by UpdateGroundHeight().

◆ DroneParameters

FDroneParameters APIDDrone::DroneParameters

private

Definition at line 247 of file PIDDrone.h.

Referenced by AutoPilot(), BeginPlay(), ChangeDroneParameters(), DrawDebugPoints(), GetCurrentWaypointTarget_Transform(), MoveDroneToPosition(), and SetFlightpath().

◆ dronePath

TArray<FTransform> APIDDrone::dronePath

private

Definition at line 286 of file PIDDrone.h.

Referenced by DrawDebugPoints().

◆ DroneSkeletalMesh

USkeletalMeshComponent* APIDDrone::DroneSkeletalMesh = nullptr

private

Definition at line 258 of file PIDDrone.h.

Referenced by BeginPlay(), ChangeDroneParameters(), DrawDebugPoints(), GetCurrentWaypointTarget_Transform(), SetFlightpath(), and UpdateGroundHeight().

◆ flightmode

EFlightMode APIDDrone::flightmode = EFlightMode::Roaming

private

Definition at line 250 of file PIDDrone.h.

◆ InnerOverlapSensor

AOverlapSensor* APIDDrone::InnerOverlapSensor = nullptr

private

Definition at line 264 of file PIDDrone.h.

Referenced by ChangeDroneParameters(), and EndPlay().

◆ manualControl

bool APIDDrone::manualControl = false

private

Definition at line 274 of file PIDDrone.h.

◆ OnDroneFinished

FDroneFinished APIDDrone::OnDroneFinished

Definition at line 61 of file PIDDrone.h.

Referenced by SetFlightpath().

◆ passedWaypoints

int32 APIDDrone::passedWaypoints = 0

private

Definition at line 280 of file PIDDrone.h.

Referenced by GetCurrentWaypointTarget_Transform(), HandleDestroy(), and SetFlightpath().

◆ PositionMesh

UStaticMeshComponent* APIDDrone::PositionMesh = nullptr

private

Definition at line 261 of file PIDDrone.h.

Referenced by BeginPlay(), and SetFlightpath().

◆ ROSMessage

TSharedPtr<ROSMessages::std_msgs::Float32> APIDDrone::ROSMessage

protected

Definition at line 201 of file PIDDrone.h.

Referenced by BeginPlay(), EndPlay(), and UpdateGroundHeight().

◆ ROSTopic

UTopic* APIDDrone::ROSTopic = nullptr

protected

Definition at line 199 of file PIDDrone.h.

Referenced by CreateTopic(), DestroyTopic(), and UpdateGroundHeight().

◆ ShowForwardArrow

bool APIDDrone::ShowForwardArrow = false

private

Definition at line 276 of file PIDDrone.h.

◆ StartingPosition

FVector APIDDrone::StartingPosition

private

Definition at line 255 of file PIDDrone.h.

Referenced by BeginPlay().

◆ waypointReached

bool APIDDrone::waypointReached = false

private

Definition at line 272 of file PIDDrone.h.

Referenced by SetFlightpath().

◆ WayPoints

TArray<FVector> APIDDrone::WayPoints

private

Initial value:

= {
        {3790, 8050, 5000},
        {11779.536955,6566.541435,5000}
    }

Definition at line 267 of file PIDDrone.h.

Referenced by AssignRoamingPoints().

◆ World

UWorld* APIDDrone::World = nullptr

private

Definition at line 253 of file PIDDrone.h.

Referenced by BeginPlay(), DrawDebugPoints(), HandleDestroy(), and UpdateGroundHeight().

The documentation for this class was generated from the following files:

Unreal/Agrarsense/Source/Agrarsense/Vehicle/PIDDrone.h
Unreal/Agrarsense/Source/Agrarsense/Vehicle/PIDDrone.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ APIDDrone()

Member Function Documentation

◆ AddWayPoint()

◆ AssignRoamingPoints()

◆ AutoPilot()

◆ BeginPlay()

◆ ChangeDroneParameters()

◆ ClearWaypoints()

◆ CreateTopic()

◆ DestroyTopic()

◆ DrawDebugPoints()

◆ EndPlay()

◆ GenerateRoamingPoints()

◆ GetCurrentWaypointTarget()

◆ GetCurrentWaypointTarget_Transform()

◆ GetDroneAction()

◆ GetDroneDistanceToNextPoint()

◆ GetDroneParameters()

◆ GetDroneSkeletalMesh()

◆ GetDroneSpeed()

◆ GetInteractableWorldTransform_Implementation()

◆ GetShowForwardArrow()

◆ GetVehicleType()

◆ GetYawRotationDifference()

◆ HandleDestroy()

◆ IsRoaming()

◆ MoveDroneToPosition()

◆ ResetDroneEvent()

◆ ROSBridgeStateChanged()

◆ SetCurrentTransformToMovedFromGarageTransform()

◆ SetDesiredLocationMesh()

◆ SetDrawDebugPoints()

◆ SetDroneAction()

◆ SetDroneRotation()

◆ SetFlightpath()

◆ SetManualControl()

◆ SetShowForwardArrow()

◆ Tick()

◆ UpdateGroundHeight()

Member Data Documentation

◆ DestroyHandle

◆ distanceToNextPoint

◆ drawDebugPoints

◆ DroneHeightFromGround

◆ DroneParameters

◆ dronePath

◆ DroneSkeletalMesh

◆ flightmode

◆ InnerOverlapSensor

◆ manualControl

◆ OnDroneFinished

◆ passedWaypoints

◆ PositionMesh

◆ ROSMessage

◆ ROSTopic

◆ ShowForwardArrow

◆ StartingPosition

◆ waypointReached

◆ WayPoints

◆ World